Abstract
Abstract
This article presents a novel neuromechanical force-based control strategy called FMCA (force modulated compliant ankle), to control a powered prosthetic foot. FMCA modulates the torque, based on sensory feedback, similar to neuromuscular control approaches. Instead of using a muscle reflex-based approach, FMCA directly exploits the vertical ground reaction force as sensory feedback to modulate the ankle joint impedance. For evaluation, we first demonstrated how FMCA can predict human-like ankle torque for different walking speeds. Second, we implemented the FMCA in a neuromuscular transtibial amputee walking simulation model to validate if the approach can be used to achieve stable walking and to compare the performance to a neuromuscular reflex-based controller that is already used in a powered ankle. Compared to the neuromuscular model-based approach, the FMCA is a simple solution with a sufficient push-off that can provide stable walking. Third, to assess the ability of the FMCA to generate human-like ankle biomechanics during walking at the preferred speed, we implemented this strategy in a powered prosthetic foot and performed experiments with a non-amputee subject. The results confirm that, for this subject, FMCA can be used to mimic the non-amputee reference ankle torque and the reference ankle angle. The findings of this study support the applicability and advantages of a new bioinspired control approach for assisting amputees. Future experiments should investigate the applicability to other walking speeds and the applicability to the target population.
Publisher
Cambridge University Press (CUP)
Cited by
15 articles.
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